Merge pull request #9 from aclodic/master

Add Readme to explain we are not yet synchronize with Aldebaran reposito...

romeo_description/urdf/Readme.txt

@@ -0,0 +1,21 @@
+urdf files have been checkout from Aldebaran repository
+https://github.com/ros-aldebaran/romeo_robot/tree/master/romeo_description
+v 0.0.9
+
+It has not been possible for now to synchronize with Aldebaran repository for the following reasons :
+- we need a romeo_small version of the robot (mostly without fingers), change between romeo and romeo_small could be checked with a simple diff since they are build from the same model
+- Aldebaran and sot convention differ so it has been needed to change the model :
+  - Aldebaran model defines a joint named "base_joint", this name is already used inside sot and could not be redefined. This "base_joint" has been renamed "waist".
+  - Aldebaran model considers trunkYaw from torso to body and we need trunkYaw from body to torso as it is represented below, so the model has been changed accordingly
+
+Romeo Aldebaran
+base_link --- base_joint ---> torso --- trunkYaw --> body
+
+Romeo sot
+base_link -- waist --> body -- trunkYaw --> torso  
+
+
+
+
+tips:
+If you want to check the model, you can use urdf_to_graphiz to get an image of the urdf tree.